subtract_mask_image.h

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// -*- mode: C++ -*-
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/*
 * subtract_mask_image.h
 * Author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>
 */


#ifndef JSK_PERCEPTION_SUBTRACT_MASK_IMAGE_H__
#define JSK_PERCEPTION_SUBTRACT_MASK_IMAGE_H__

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>

#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>

namespace jsk_perception
{
  class SubtractMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
    sensor_msgs::Image,
    sensor_msgs::Image > SyncPolicy;
    typedef message_filters::sync_policies::ApproximateTime<
    sensor_msgs::Image,
    sensor_msgs::Image > ApproxSyncPolicy;
    
    SubtractMaskImage(): DiagnosticNodelet("SubtractMaskImage") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void subtract(
      const sensor_msgs::Image::ConstPtr& src1_msg,
      const sensor_msgs::Image::ConstPtr& src2_msg);

    bool approximate_sync_;
    int queue_size_;
    ros::Publisher pub_;
    message_filters::Subscriber<sensor_msgs::Image> sub_src1_;
    message_filters::Subscriber<sensor_msgs::Image> sub_src2_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproxSyncPolicy> > async_;
  };
}

#endif // SUBTRACT_MASK_IMAGE_H__